Curtis 1232E Manual
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Curtis 1232E Manual

Dual drive operation
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Manual
DUAL DRIVE OPERATION
for Controller Models
1232E / 34E / 36E / 38E / 39E
1232SE / 34SE / 36SE
and
» Software Version OS 30.0 «
Read Instructions Carefully!
Specifications are subject to change without notice.
© 2016 Curtis Instruments, Inc. ® Curtis is a registered trademark of Curtis Instruments, Inc.
© The design and appearance of the products depicted herein are the copyright of Curtis Instruments, Inc.
Curtis Instruments, Inc.
200 Kisco Avenue
Mt. Kisco, NY 10549
www.curtisinstruments.com
/
,
53134
53133
OS30 3/1/16
DD
DD

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Summary of Contents for Curtis 1232E

  • Page 1 Specifications are subject to change without notice. © 2016 Curtis Instruments, Inc. ® Curtis is a registered trademark of Curtis Instruments, Inc. © The design and appearance of the products depicted herein are the copyright of Curtis Instruments, Inc. 53134...

  • Page 3: Table Of Contents

    2. WIRING ..................... 3 3. PROGRAMMABLE PARAMETERS ..........6 4. CRITICAL ANGLE & INNER WHEEL SPEED ....10 5. DUAL DRIVE SETUP ..............13 6. VEHICLE CONTROL LANGUAGE & CAN ...... 15 7. DIAGNOSTICS AND TROUBLESHOOTING ....19 Curtis Dual Drive Manual, os30...
  • Page 4 Inner-wheel and outer-wheel speed maps ......... 12 fig. 7a: Motor command diagram, master controller ........16 fig. 7b: Motor command diagram, slave controller ........17 TABLES table 1: Programmable parameters menu table ..........6 table 2: Troubleshooting chart ............... 19 Curtis Dual Drive Manual, os30...

  • Page 5: Overview

    1 — OVERVIEW OVERVIEW The Dual Drive feature of Curtis 1232E/SE, 1234E/SE, 1236E/SE, 1238E, and 1239E controllers allows two controllers to work together in vehicles with dual fixed-axle drive motors, a steered wheel or axle, and an analog steer-angle sensor.
  • Page 6 If the speed encoder is invalid on only one side, that side will have its bridge disabled, the other side will use the dual drive LOS and assume that the steer angle is 0. If both encoder signals are invalid, the vehicle will not drive. Curtis Dual Drive Manual,...

  • Page 7: Wiring

    1232SE/34SE/36SE Note: See the 1239E manual for typical wiring for the external high-voltage battery precharge circuit and for the 12V KSI and switch/driver I/O. Fig. 2a Wiring between the master and slave Dual Drive traction controllers. Curtis Dual Drive Manual,...

  • Page 8: Fig. 2B: Basic Wiring Diagram For Master Controller

    (4-pin Molex) J1-7 J1-18 I/O GROUND POT LOW CURTIS MASTER CONTROLLER MODEL 840 DISPLAY 1232E/34E/36E/38E/39E 1232SE/34SE/36SE * 1232E and 1232SE do not include ANALOG OUT Fig. 2b Basic wiring diagram for master controller, Dual Drive operation. Curtis Dual Drive Manual,...

  • Page 9: Fig. 2C: Basic Wiring Diagram For Slave Controller

    SERIAL PORT POT2 WIPER J1-29 (4-pin Molex) J1-7 J1-18 I/O GROUND POT LOW SLAVE CONTROLLER 1232E/34E/36E/38E/39E 1232SE/34SE/36SE * 1232E and 1232SE do not include ANALOG OUT Fig. 2c Basic wiring diagram for slave controller, Dual Drive operation. Curtis Dual Drive Manual,...

  • Page 10: Programmable Parameters

    Although the parameter will be changed, the fault will prevent motor control functions until the fault is cleared by cycling the keyswitch. If the motor bridge is disabled (interlock = Off ), changing these parameters will not cause a fault and the changes will take effect immediately. Curtis Dual Drive Manual,...
  • Page 11 CAN Node ID of the “other” controller so they can talk to each other. Dual_CAN_Node_ID_Other 0 – 127     Set this parameter to the slave controller’s CAN Node ID in the master  0x330F 0x00 controller, and set it to the master controller’s CAN Node ID in the slave  controller. 100 – 8000 rpm  Defines the maximum speed when a Dual Drive controller is running  LOS Max Speed in LOS (Limited Operating Strategy) mode. Dual_LOS_Max_Speed 100 – 8000 0x38A2 0x00 Curtis Dual Drive Manual,...
  • Page 12 CCW to the maximum position. 0x38AE 0x00 On / Off Setting this to On allows VCL to be used for additional steering processing. VCL Steer Enable VCL_Steer_Enable On / Off VCL_Steer_Enable_Bit0 [Bit 0] 0x38A5 0x00 Curtis Dual Drive Manual,...
  • Page 13 Turn ff Build Rate  Dual_Turn_ff_Build_Rate_SpdM 100 – 5000 0x38B3 0x00 0.1 – 2.0 s  Defines how quickly the Kvff term releases. If the release seems too  Turn ff Release Rate  abupt, slowing the release rate (i.e., setting this parameter to a higher Dual_Turn_ff_Build_Rate_SpdM 100 – 2000 0x38B4 0x00 value) will soften the feel. Curtis Dual Drive Manual,...

  • Page 14: Critical Angle & Inner Wheel Speed

    Inner Wheel Speed. Measured inner wheel speed may be quite different from the parameter value you set; this is normal. Use the calculated value as the parameter setting. Curtis Dual Drive Manual,...

  • Page 15: Fig. 3 Typical 3-Wheel Dual Drive Vehicle Geometry

    1 M A R C H 2 0 1 6 4 — DETERMINING CRITICAL ANGLE AND INNER WHEEL SPEED Fig. 3 Typical 3-wheel Dual Drive vehicle geometry. Fig. 4 Typical articulated steering Dual Drive vehicle geometry. Curtis Dual Drive Manual,...

  • Page 16: Fig. 5: Ratio Of Inner-Wheel Speed To Outer-Wheel Speed

    Fig. 6 Inner-wheel and outer-wheel speed maps, 100% assuming full throttle. Max Turn Speed STEERING ANGLE Inner Wheel Speed 10° 90° Speed of outer wheel / Max Speed Speed of inner wheel / Max Speed -100% Curtis Dual Drive Manual,...

  • Page 17: Dual Drive Setup

    DUAL DRIVE SETUP First you should complete the setup procedures for the two controllers you are using as outlined in the 1232E/34E/36E/38E/39E os30 manuals. Then proceed with these Dual Drive setup procedures. Before starting the Dual Drive setup procedures, jack the vehicle drive C A U T I O N wheels up off the ground so that they spin freely.
  • Page 18 (Refer to setup procedures in the 1232E/34E/36E/38E/39E os30 manuals for help resolving encoder issues.) If the motor still does not respond appropriately you should contact your Curtis customer support engineer to resolve any issues before continuing. Do not take the vehicle down off the blocks until the motors are C A U T I O N responding properly.

  • Page 19: Vehicle Control Language & Can

    VCL is not required to implement the dual drive feature. However, should the CANbus stop, use the VCL function INIT_DUAL_MOTOR_CAN() to restart the dual drive CANbus. INIT_DUAL_MOTOR_CAN() This function initializes (restarts) the dual drive CAN functions. Syntax Init_Dual_Motor_CAN() Parameters None. Returns None. Error Codes None. Curtis Dual Drive Manual,...

  • Page 20: Fig. 7A: Motor Command Diagram, Master Controller

    1 M A R C H 2 0 1 6 6 — VCL & CAN Curtis Dual Drive Manual,...

  • Page 21: Fig. 7B: Motor Command Diagram, Slave Controller

    1 M A R C H 2 0 1 6 6 — VCL & CAN Curtis Dual Drive Manual,...
  • Page 22 Used to request the interlock between master and slave. Bit3 EM_Brake_Ready_To_Set Used to synchronize the EM brake between master and slave. Bit4 LOS_Speed_Flag Used to initiate LOS speed in the other traction controller. Bits 5–8 [Not used] Curtis Dual Drive Manual,...

  • Page 23: Diagnostics And Troubleshooting

    Controller Severe Undertemp 1. See Monitor menu » Controller: Set: Heatsink temperature below -40°C. Temperature. Clear: Bring heatsink temperature ShutdownMotor; SevereDual. 2. Controller is operating in an extreme above -40°C, and cycle interlock or KSI. environment. Other controller: SevereDual LOSDual TrimDisable. Curtis Dual Drive Manual,...
  • Page 24 Undervoltage limit. TrimDisable. 3. Non-controller system drain on battery. 4. Battery resistance too high. 5. Battery disconnected while driving. 6. See Monitor menu » Battery: Capacitor Voltage. 7. Blown B+ fuse or main contactor did not close. Curtis Dual Drive Manual,...
  • Page 25 Clear: Bring the motor thermistor input Limited Operating Strategy), and motor temperature thermistor, Temp Compensation voltage within range. cutback disabled. and Temp Cutback should be programmed Off. Other controller: LOSDual. 3. See Monitor menu » Motor: Temperature and » Inputs: Analog2. Curtis Dual Drive Manual,...
  • Page 26 Encoder Fault Set: Motor encoder phase failure detected. 1. Motor encoder failure. Clear: Cycle KSI. 2. Bad crimps or faulty wiring. ShutdownMotor; SevereDual. 3. See Monitor menu » Motor: Motor RPM. Other controller: SevereDual; LOSDual; TrimDisable. Curtis Dual Drive Manual,...
  • Page 27 FullBrake: KillSteer. 2. Pot2 wiper voltage too low. (can be changed with the VCL function Setup_Pot_Faults() Other controller: Clear: Bring Pot2 wiper voltage Same effects as this controller. above the fault threshold. Curtis Dual Drive Manual,...
  • Page 28 KSI is cycled. ShutdownThrottle; For example, if a user changes the FullBrake. Throttle Type this fault will appear Other controller: and require cycling KSI before the Same effects as this controller. vehicle can operate. Curtis Dual Drive Manual,...
  • Page 29 OS General 1. Internal controller fault. Set: Internal controller fault detected. ShutdownMotor; Clear: Cycle KSI. ShutdownMainContactor; ShutdownEMBrake; ShutdownThrottle; ShutdownInterlock; ShutdownDriver1; ShutdownDriver2; ShutdownDriver3; ShutdownDriver4; ShutdownPD; FullBrake; TrimDisable; SevereDual; ShutdownSteer; LOSDual. Other controller: Same effects as this controller. Curtis Dual Drive Manual,...
  • Page 30 ShutdownThrottle; 3. Switch inputs allowed to be within cycle KSI. ShutdownInterlock; upper and lower thresholds for ShutdownDriver1; over 100 milliseconds. ShutdownDriver2; ShutdownDriver3; ShutdownDriver4; ShutdownPD; FullBrake. Other controller: Same effects as this controller. Curtis Dual Drive Manual,...
  • Page 31 3=motor temp hot cutback fault 4= controller overtemp cutback fault 5=controller undertemp cutback fault 6=undervoltage cutback fault 7=severe overvoltage fault 8=encoder signal not seen, or one or both channels missing 9=motor parameters out of character- ization range. Curtis Dual Drive Manual,...
  • Page 32 ShutdownEMBrake; ShutdownThrottle. to set. brake to fully engage, vehicle movement 2. EM Brake will not hold the motor has been sensed. Other controller: from rotating. Clear: Activate the throttle. Same effects as this controller. Curtis Dual Drive Manual,...
  • Page 33 Motor Techology=0 must be paired FullBrake; Type parameters do not match. with Feedback Type=1, and Motor Tech- nology=1 must be paired with Feedback Type=2; otherwise this fault is set. Clear: Adjust parameters to appropriate values and cycle KSI. Curtis Dual Drive Manual,...

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